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Examples

This directory contains executables to showcase the intended use of the franka_lightweight_interface with simple control loop clients.

Installation

To run control loops in packaged applications, it is not required to install the whole franka_lightweight_interface project as described in the top level README. The full installation including a real time kernel and libfranka is only necessary for the robot server process. The client process running the control loop only needs to know the communication protocol to be able to receive and send information via ZMQ sockets. This can be seen in the simple joint_position_controller, where the only includes are

#include "network_interfaces/control_type.h"
#include "network_interfaces/zmq/network.h"

To install the network_interface headers for your own application, follow the installations steps here.

joint_position_controller

The joint position controller example is given as a starting template for desing control loop clients. After importing the frankalwi network header, the common process

  • Set up the ZMQ connection using network_interfaces::zmq::configure_sockets()
  • Prepare the state and command messages of type network_interfaces::zmq::StateMessage and network_interfaces::zmq::CommandMessage
  • Check for a new state message from the robot using network_interfaces::zmq::receive(state, subscriber)
  • Calculate the desired command output given the state and some control logic
  • Send the command packet back to the robot using network_interfaces::zmq::send(command, publisher)

The example controller is kept intentionally simple; the intention is for users to develop and contain control loop clients in external projects or repositories following the given examples, and not to implement controllers for production or experiments in this folder.